CN101828130B - Distance measuring equipment and distance measuring method - Google Patents

Distance measuring equipment and distance measuring method Download PDF

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Publication number
CN101828130B
CN101828130B CN2007801011406A CN200780101140A CN101828130B CN 101828130 B CN101828130 B CN 101828130B CN 2007801011406 A CN2007801011406 A CN 2007801011406A CN 200780101140 A CN200780101140 A CN 200780101140A CN 101828130 B CN101828130 B CN 101828130B
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signal
distance
value
output
measured
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CN101828130A (en
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松本幸一
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Nireco Corp
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Nireco Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. P.S.K. signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Distance measuring equipment has a rough distance measuring circuit (18) using a time delay circuit and a precise distance measuring circuit (31) for measuring the orientation of the vector of a carrier wave to determine the distance, the sum of which is the final output. The rough distance measuring equipment (18) has a long measurement span but low precision. The precise distance measuring equipment (31) has a short measurement span but high precision. The combination provides distance measuring equipment having a long measurement span and high resolution and capable of implementing precise measurement.

Description

Distnace determination device and method for measuring distance
Technical field
The present invention relates to correctly to obtain Distnace determination device and the method for measuring distance of the distance that arrives the determination object thing.
Background technology
Arrive the technology of the distance of determination object thing as correct mensuration, for example have the technology of in Japanese JP 6-16080 communique, putting down in writing.
Patent documentation 1: Japanese JP 6-16080 communique
But the resolution of the Distnace determination device of record is by following some decision in patent documentation 1:
(1) clock frequency of pseudo random signal
(2) the poor △ f of the clock frequency of two pseudo random signal generators of driving
(3) be used for the frequency of the counter of the time from the reference signal to the detection signal of measuring, thereby have the problem that has the limit.
About (1) and (2), if improve the clock frequency of pseudo random signal, then resolution improves, and in addition, if reduce △ f, then resolution improves, but improve pseudo random signal clock frequency, reduce △ f and all have the limit.
About (3), according to experimental result as can be known, be subjected to the impact of waveform correlation distortion, in fact when counter frequency surpassed 2MHz, resolution can not be brought up to more than it.That is, waveform correlation is triangular wave ideally, but in fact the crest of waveform does not become acute angle, and produces distortion in waveform.Its reason is as follows:
(a) blunt in the low-pass filter medium wave deformation of carrying out frequency band limits, the crest of waveform correlation does not become acute angle.
(b) by frequency spectrum diffusion, frequency spreads to broadband, therefore is subjected to the frequency characteristic of the parts that use or the impact of group delay frequency characteristic, and produces distortion.
In order to improve the passivation of waveform correlation, as long as the cutoff frequency of low-pass filter is brought up to the not degree of rust of waveform, but such words, can be difficult to remove the noise with signal overlap, the result causes the deterioration of S/N ratio.In addition, be difficult in whole frequency spectrum diffusion frequency band the high-frequency unit making frequency characteristic evenly and not have delay.
Summary of the invention
The present invention finishes just in light of this situation, and its problem is to provide a kind of Distnace determination device and method for measuring distance of measuring that range is long, resolution is high and can implementing Accurate Determining.
The 1st means that are used for solving described problem are a kind of Distnace determination devices, it is characterized in that this Distnace determination device has: produce clock frequency is made as f 1The unit of the 1st pseudo random signal; Produce the unit of the 2nd pseudo random signal, the 2nd pseudo random signal has the pattern identical with described the 1st pseudo random signal, and with the described clock frequency f of frequency ratio 1Slightly low f 2Be made as clock frequency; The 1st multiplier that described the 1st pseudo random signal and described the 2nd pseudo random signal are multiplied each other; Produce the unit of the carrier wave of microwave; Described carrier wave is carried out the unit of phase-modulation by described the 1st pseudo random signal; With the carrier wave behind the described phase-modulation as electromagnetic wave to unit that object sends; Reception obtains the unit that receives signal from the electromagnetic wave of described object reflection; The 2nd multiplier that the described reception signal of obtaining and described the 2nd pseudo random signal are multiplied each other; Input described carrier wave a part, output as the I signal of two orthogonal components of phase place and the hybrid coupler of Q signal; The output signal of described the 2nd multiplier is divided into one of them signal R after two 1The 3rd multiplier that multiplies each other with described I signal; The output signal of described the 2nd multiplier is divided into wherein another signal R after two 2The 4th multiplier that multiplies each other with described Q signal; The output signal of described the 1st multiplier is carried out the 1st low-pass filter that low frequency filtering is processed; The output signal of described the 3rd multiplier is carried out the 2nd low-pass filter that low frequency filtering is processed; The output signal of described the 4th multiplier is carried out the 3rd low-pass filter that low frequency filtering is processed; Individually the output signal of described the 2nd low-pass filter and the 3rd low-pass filter is carried out respectively the 1st squarer and the 2nd squarer of square operation; Totalizer with the output signal addition of described the 1st squarer and the 2nd squarer; When the peak swing value of the output signal that detects described the 1st low-pass filter, produce the unit of the 1st pulse; When the peak swing value of the output signal that detects described totalizer, produce the unit of the 2nd pulse; Be carved into the unit that generation time constantly of described the 2nd pulse measures to from the generation of described the 1st pulse the time; Rough range determination section, its with time of described mensuration 1/2 with described electromagnetic wave propagation speed the long-pending as the 1st operation values, with described clock frequency f of gained of multiplying each other 1Deduct clock frequency f 2The frequency of the difference of gained is divided by described clock frequency f 1The merchant who draws is as the 2nd operation values, obtain will described the 1st operation values with described the 2nd operation values the long-pending of gained of multiplying each other be the 3rd operation values, as the distance that arrives described object; The phase differential arithmetical unit, it is made as I ', the output of described the 3rd low-pass filter is made as Q ' time in the output with described the 2nd low-pass filter, obtains phase differential θ=tan -1(Q '/I '); And the Precise Distance determination part, when it is made as λ at the wavelength with described carrier wave, obtain Precise Distance=θ λ/2 π.
The 2nd means that are used for solving above-mentioned problem are a kind of method for measuring distance, it is characterized in that, in the distance that will measure as the rough range determination Distnace determination device of above-mentioned the 1st means, described section as rough initial value, the distance that described Precise Distance determination part is measured is as accurate initial value, with their sums during as initial value, the distance that described rough initial value and described Precise Distance determination part are measured and the difference sum of described accurate initial value are as the output measured value.
The 3rd means that are used for solving above-mentioned problem are a kind of method for measuring distance, it is characterized in that, with the Distnace determination device of above-mentioned the 1st means, the distance that described rough range determination section measures is as rough initial value, the distance that described Precise Distance determination part is measured is as accurate initial value, with their sums during as initial value, in the 1st time is measured, the distance that described rough initial value and described Precise Distance determination part are measured and the difference sum of described accurate initial value are as the output measured value, in the 2nd time is measured, the difference of the output of the Precise Distance determination part of getting the output of the Precise Distance determination part of measuring this moment and measuring last time, and with this difference and measured value addition last time, obtain thus this measured value.
The 4th means that are used for solving above-mentioned problem are a kind of method for measuring distance, it is characterized in that, are measuring the arrival distance L with the method for measuring distance of above-mentioned the 2nd means in advance 0The distance of known standard test plate, its value is made as standard initial value L ', afterwards, when measuring the distance that arrives the determination object thing and its value be made as L with the method for measuring distance of measuring described standard initial value, with (L 0+ L-L ') value is as the output measured value.
According to the present invention, can provide a kind of Distnace determination device and method for measuring distance of measuring that range is long, resolution is high and can implementing Accurate Determining.
Description of drawings
Fig. 1 is the figure of summary that the Distnace determination device of embodiment of the present invention one example is shown.
Fig. 2 is be used to the oscillogram that circuit operation shown in Figure 1 is described.
Fig. 3 is the structural drawing of 7 bit M sequence signal generators.
Label declaration
1,2: clock generator; 3,4: pseudo random signal (PN code) generator; 5～9: multiplier (frequency mixer); 10～12: low-pass filter; 13,14: divider; 15,16: squarer; 17: totalizer; 18: the time measurement device; 19: carrier oscillator; 20: hybrid coupler; 21: transmitter; 22: receiver; 23: transmitting antenna; 24: receiving antenna; 25: target; 27,28: the maximal value test section; 29: time measurement section; 30: the arctangent cp cp operation device; 31: phase detectors; 32: the distance operation unit; 33: shift register; 34: anticoincidence circuit.
Embodiment
Below, with accompanying drawing the example of embodiment of the present invention is described, but before this, the principle of the rough range determination section that uses in the Distnace determination device as embodiment of the present invention one example is described.
The repetition frequency of the 1st pseudo random signal is made as f 1, the repetition frequency of the 2nd pseudo random signal is made as f 2, make the pattern of each pseudo random signal identical.Be made as f herein, 1＞f 2
The reference signal that will obtain getting the 1st pseudo random signal that sends with the relevant of the 2nd pseudo random signal is the peaked cycle to be made as T BThe time, this T BBetween the wave-number difference of the 1st pseudo random signal that comprises and the 2nd pseudo random signal just in time become the wave number N in 1 cycle.
That is, T BF 1=T BF 2+ N, the arrangement foregoing provides T by following (1) formula B
T B＝N/（f 1-f 2）（1）
That is, the difference of two clock frequencies is less, and reference signal is peaked cycle T BLarger.
Then, transmission utilizes the 1st pseudo random signal to carry out the carrier wave of phase-modulation, reflected by object, travel-time before again receiving is made as τ, utilize the 2nd pseudo random signal to come this reception signal of demodulation, the mistiming that will be carved into the moment that the pulse-like signal of measuring the object detection signal that is obtained by coherent detection produces when the pulse-like signal of reference signal produces is made as T DThe time, at T DBetween the wave number of the 2nd pseudo random signal that produces than at T DBetween the wave number of few the 1st pseudo random signal that produces in the time at τ of the wave number of the 1st pseudo random signal that produces, so following formula is set up.
T D·f 2＝T D·f 1-τ·f 1
When the arrangement following formula, provide T by following (2) formula D
T D＝τ·f 1/（f 1-f 2）（2）
That is, travel-time τ amplifies f in time 1/ (f 1-f 2) doubly, perhaps be measured as the T of low speed DBy amplifying this Measuring Time, the present invention is become be fit in essence the Distnace determination device that short distance is measured.
Herein, to establish velocity of propagation be v, when the distance that arrives object is x, therefore travel-time τ=2x/v obtains following (3) formula by (2) formula.
x＝（f 1-f 2）·v·T D/（2f 1）（3）
According to (3) formula, can be by the poor T of Measuring Time DCome measuring distance x.
Fig. 1 is the figure that illustrates as the summary of the Distnace determination device of embodiment of the present invention one example.In Fig. 1,1,2 is clock generator, and 3,4 is pseudo random signal (PN code) generator, 5～9 is respectively multiplier (frequency mixer), this multiplier for example is made of double balanced mixer.Herein, multiplier 6 is used as the phase modulation unit of carrier wave, and multiplier 5 and 7 is used as respectively the processor of the first half of the 1st and the 2nd related operation unit, and multiplier 8 and 9 is used as the processor of the first half of orthogonal detection unit.
10～12 are respectively low-pass filter, and low-pass filter 10 is used as the required integral element of latter half of the 1st related operation, and low-pass filter 11 and 12 is used as the required integral element of latter half of the 2nd related operation.Therefore, the 1st related operation unit is made of multiplier 5 and low-pass filter 10, and the 2nd related operation unit is made of multiplier 7 and low-pass filter 11 and 12.13,14 is divider, and 15,16 is squarer, and 17 is totalizer, described squarer 15 and 16 and totalizer 17 be used as the processor of the latter half of orthogonal detection unit.Therefore, the orthogonal detection unit by multiplier 8 and 9, squarer 15 and 16 and totalizer 17 consist of.
18 are the time measurement device, contain two maximal value test sections and time measurement section in inside.Described two maximal value test sections produce respectively the output pulse when detecting the peak swing value of input signal, the time between described two output pulses is measured by time measurement section.19 is carrier oscillator, and 20 is hybrid coupler, and 21 is transmitter, and 22 is receiver, and 23 is transmitting antenna, and 24 is receiving antenna, and 25 is target, and 26 is distance operation unit (rough distance operation unit), and this arithmetic element is such as being made of microprocessor etc.
Fig. 2 is the oscillogram for the action of key diagram 1.Fig. 3 is the structural drawing of 7 bit M sequence signal generators, and 33 is shift registers of 7 level structures, and 34 is anticoincidence circuit.
Action with reference to Fig. 2 and Fig. 3 key diagram 1.Pseudo random signal generator 3,4 for example can use the M sequence signal generator.Fig. 3 illustrates the structure of 7 bit M sequence signal generators, for example by the ECL(emitter coupled logic (ECL)) shift register and the anticoincidence circuit 33 of 7 level structures of element consist of.The M sequence signal be based on code " 1 " (with positive voltage+E is corresponding) and " 0 " (with negative voltage-E is corresponding) the periodic cycle signal that makes up, in the situation of 7 bits of this example, generation 2 7During-1=127 (being also referred to as 127 chips) signal, finish 1 cycle, produce the cycle signal that repeats this cycle.
Pseudo random signal generator 3,4 is made of identical circuit, so both output signals are the signal of identical pattern.Frequency is respectively f 1, f 2But the clock frequency of supplying with is slightly different, so its 1 cycle is also slightly different.In addition, as pseudo random signal, except the M sequence signal, can also use gold sequence signal, JPL sequence signal.
Clock generator 1,2 all is built-in with quartz vibrator, produces the highly stable clock signal of frequency, but in the present invention, with respect to the frequency f of clock generator 1 generation 1, the frequency f that clock generator 2 produces 2Be set to than described frequency f 1Low f 1The very little frequency below about 1/1000～1/10000.
In the present embodiment, establish the occurrence frequency f of clock generator 1 1Be 100.004MHz, establish the occurrence frequency f of clock generator 2 2Be 99.996MHz, its difference on the frequency f 1-f 2=8kHz is f 1About 1/12500.The clock signal f that exports separately from clock generator 1 and 2 1And f 2Be provided for respectively pseudo random signal generator 3,4.Because drive the difference on the frequency with clock signal, pseudo random signal generator 3,41 cycle separately is slightly different, but the M sequence signal M of output model identical 1And M 2
Current, obtaining two M sequence signal M 1And M 2Cycle the time, M 1Cycle be 127 * 1/100.004MHz=1269.9492ns, M 2Cycle be 127 * 1/99.996MHz=1270.0508ns.That is, two M sequence signal M 1And M 2Has about 1270ns(10 -9Second) cycle, but in both cycles, have the mistiming of about 0.1ns.Therefore produce these two M sequence signal M in circulation 1And M 2, and the pattern of two M sequence signals at t sometime aWhen consistent, whenever the time through 1 cycle, just produce the deviation of 0.1ns between two signals, after 100 cycles, produce the deviation of 10ns between two signals.
Herein, the M sequence signal produces 127 signals in 1 cycle 1270ns, and therefore the generation time of 1 signal is 10ns.Therefore, at two M sequence signal M 1And M 2Between produce the such situation of 10ns deviation 1 the M sequence signal that has been equivalent to deviation.The output M of pseudo random signal generator 3 1Be fed into multiplier 5 and 6, and the output M of pseudo random signal generator 4 2Be fed into multiplier 5 and 7.
Carrier generator 19 for example vibrate the microwave of the about 10GHz of frequency, its output signal is distributed by divider 13, and supplies to multiplier 6 and hybrid coupler 20.Multiplier 6 for example is made of double balanced mixer, carries out the carrier wave of the about 10GHz of frequency by divider 13 input and the M sequence signal M by pseudo random signal generator 3 inputs 1Multiplying, output carrier wave has been carried out the frequency spectrum diffusion signal of phase-modulation and has supplied to transmitter 21.The frequency spectrum diffusion signal that 21 pairs of transmitters are inputted carries out power amplification, is converted to electromagnetic wave and to target 25 radiation via transmitting antenna 23.Herein, the skyborne wavelength of the electromagnetic wave of frequency 10GHz is 3cm, because compare enough greatly with the size of the dust in the stove (diameter) with iron processed for example, so be difficult to be subjected to the impact of dust etc.In addition, transmitting antenna 23 and receiving antenna 24 for example use box horn, reduce as much as possible from the reflective power beyond the determination object thing by dwindling largely directionality.In addition, antenna gain for example is about about 20dB.The electromagnetic wave of 25 radiation is reflected by target 25 from transmitting antenna 23 to target, is converted to electric signal and is imported into receiver 22 via receiving antenna 24.To the timing of receiver 22 supply input signals, obviously be from transmitting antenna 23 has radiated electromagnetic timing, to have postponed electromagnetic wave to come and go with target 25 distance apart until the electromagnetic wave propagation time till arriving receiving antenna 24.Receiver 22 amplification input signals also offer multiplier 7.
On the other hand, be in the multiplier 5 at the processor of the first half of the 1st related operation unit, to respectively from the M sequence signal M of pseudo random signal generator 3,4 inputs 1And M 2Carry out multiplying, the processor that the time series signal of this multiplier is fed into the latter half of the 1st related operation unit is low-pass filter 10.(ア) of Fig. 2 is for showing to the signal of this low-pass filter 10 input, namely as the waveform of the time series signal of the multiplication value of multiplier 5, in the consistent situation of the phase place of two pseudo random signals that are input to multiplier 5, the output voltage of continuation+E, but in the inconsistent situation of the phase place of two signals, at random generation+E and-output voltage of E.
Low-pass filter 10～12 is by the frequency band limits of frequency, carry out the Integral Processing of the latter half of related operation processing, carry out the signal of integration as the multiplication value of rear gained that two time series signals are multiplied each other one by one, in the consistent situation of the phase place of two signals, the triangular shape signal of output shown in Fig. 2 (イ).In addition, in the inconsistent situation of the phase place of two signals, be output as zero.Thus, in the output of low-pass filter 10, periodically produce the triangular shape signal.This pulse-like signal is supplied to time measurement device 18 as reference signal constantly.When the cycle T by aforesaid (1) this reference signal of formula computing BThe time, in the case of this example, pseudo random signal is made as the M sequence signal M of 7 bits 1And M 2, therefore the wave number N in 1 cycle is 2 7-1=127, f 1=100.004MHZ, f 2So=99.996MHZ is T B=15.875ms.Fig. 2 (エ) illustrates this reference signal and cycle T thereof B
In addition, be multiplier 7 inputs from the reception signal of receiver 22 with from the M sequence signal M of pseudo random signal generator 4 to the processor of the first half of the 2nd related operation unit 2, carry out the multiplying of two signals.The multiplication result of this multiplier 7 is fed into divider 14 as follows, and this divider 14 is passing through a M sequence signal M 1Phase-modulation send modulated phase place and the 2nd M sequence signal M with the reception signal of carrier wave 2Phase place when consistent, be output as the consistent carrier signal of phase place, at the modulated phase place and the M sequence signal M that receive signal 2Phase place not simultaneously, be output as phase place carrier wave at random.Divider 14 is distributed into two with input signal, and is that multiplier 8 and 9 is supplied with it and distributed output R to the processor of the first half of orthogonal detection unit respectively 1And R 2Having supplied with a part of transmission by divider 13 is (phase place 0 degree) the signal I of in-phase component and (phase place 90 degree) signal Q of right angle component with hybrid coupler 20 output of carrier wave with respect to input signal, and supplies to respectively multiplier 8 and 9.Multiplier 8 carries out from the signal I(of hybrid coupler 20 input namely, with the signal of the output homophase of carrier oscillator 19) and from the described signal R of divider 14 inputs 1Multiplying, same, multiplier 9 carries out input signal Q(namely, differs the signals of 90 degree phase places with the output of carrier oscillator 19) and described signal R 2Multiplying, extract to receive respectively the phase place 0 degree component (IR in the signal 1) and phase place 90 degree component (QR 2), should extract signal IR 1And QR 2As the signal that is disposed of orthogonal detection unit first half, supply to low-pass filter 11 and 12 respectively.
Low-pass filter 11 and 12 has the Integral Processing function of the 2nd related operation unit latter half, and low frequency filtering is processed described signal IR respectively 1And QR 2, carry out thus integral action.
Be input to the signal R of multiplier 8 and 9 herein, via divider 14 1And R 2To utilize the signal that is disposed of the first half of the related operation that multiplier 7 carries out, namely from the carrier wave that receives, detect signal with the coherence of the second pseudo random signal, for this signal R 1And R 2, also detect the coherence with reference carrier, therefore in multiplier 8 and 9, carry out respectively the multiplying of the signal Q of the signal I of in-phase component of reference carrier and right angle component.
Then, the output waveform of multiplier 8 and 9 and the output waveform of low-pass filter 11 and 12 are described.Namely at the described signal R that is input to multiplier 8 from the output of multiplier 7 via divider 14 1When consistent with the phase place of the described signal I that is input to multiplier 8 from hybrid coupler 20, same, be input to the described signal R of multiplier 9 2When consistent with the phase place of signal Q, multiplier 8 and 9 output signal are respectively the pulse signal (pulse signal of voltage+E) of fixed polarity, can obtain larger positive voltage in the output of the low-pass filter 11 that this signal has been carried out integration and 12.
In addition, at described signal R 1When inconsistent with the phase place of signal I and described signal R 2When inconsistent with the phase place of signal Q, multiplier 8 and 9 output signal become respectively the pulse signal (be voltage+E and-pulse signal of E) of positive and negative two polarity of random variation, and the low-pass filter 11 and 12 that this signal has been carried out integration is output as zero.The signal that carries out as mentioned above the phase place 0 degree component of Integral Processing and phase place 90 degree components by low-pass filter 11 and 12 be fed into respectively the latter half of orthogonal detection unit initial arithmetical unit, be squarer 15 and 16. Squarer 15 and 16 is the amplitude of square operation input signal respectively, and the output signal of its operation result is supplied to totalizer 17.17 pairs of two input signals of totalizer carry out additive operation, then export the pulse type detection signal shown in Fig. 2 (ウ), and supply to time measurement device 18.T occurs constantly to be made as in current maximal value with this detection signal b
At multiplier 7 and the low-pass filter 11,12 assembled like this as the related operation unit, multiplier 8,9 as the orthogonal detection unit, squarer 15,16 and the mode of totalizer 17 in, although structure has some complexity, can obtain highly sensitive object detection signal.In addition, because obtained the relevant output of the such pseudo random signal of M sequence signal, so can fall low noise impact and emphasize signal, therefore can realize that signal is to the high measuring system of noise ratio (S/N).Certainly, have the detecting way that uses crystal as the detecting way of carrier wave, although this mode sensitivity is low, simple in structure, therefore also can adopt this mode according to specification and cost.
Two the maximal value test sections 27,28 that are built in the time measurement device 18 are detecting from the moment t of the peak swing value of the reference signal of low-pass filter 10 input respectively aProduce the 1st pulse, detecting from the moment t of the peak swing value of the detection signal of totalizer 17 input bProduce the 2nd pulse.In addition, the time measurement section in the time measurement device 18 measures the generation moment t of described the 1st pulse aGeneration moment t with the 2nd pulse bBetween time T D
Described maximal value test section 27,28 is for example by clock signal successively Sample ﹠ hold input voltage value, by voltage comparator the sampling value of present clock signal and the last sampling value of clock signal are compared successively, then detecting from the increase state turnover with respect to time of input signal is the moment of minimizing state, and the maximal value that can detect thus input signal produces constantly.With described time T DMaximal value as the reference signal shown in Fig. 2 (エ) produces constantly t aThe maximal value of the detection signal (ウ) produces constantly t bBetween time illustrate.As the aforementioned shown in (2) formula, this time T DActual is in time travel-time τ to be amplified f 1/ (f 1-f 2) doubly obtain, this travel-time τ is the time that electromagnetic wave comes and goes the distance between transmitting antenna 23 and receiving antenna 24 and the target 25.In the case of this example, f 1=100.004MHz, f 2=99.996MHz, thus the time be exaggerated 12,500 times and obtain (4) formula.
T D＝12,500·τ（4）
In addition, for each cycle T of described reference signal BObtain the time T of (4) formula D
Time T by these time measurement device 18 mensuration DBe fed into distance operation unit 32.Distance operation unit 32 is such as being made of microprocessor etc., and it carries out the computing of described (3) formula, calculate arrive object apart from x.
That is, with the described time T that determines D1/2 and described electromagnetic wave propagation speed v multiply each other and with its product T DV/2 will be from clock frequency f as the 1st operation values 1Deduct clock frequency f 2The frequency of difference divided by described clock frequency f 1Merchant (the f of gained 1-f 2)/f 1As the 2nd operation values, multiply each other the 3rd long-pending operation values of gained of described the 1st operation values and described the 2nd operation values is measured roughly distance as what arrive described object apart from x() obtain.
By described distance operation unit 32, the time T of for example measuring DBe in the situation of 254 μ s, can calculate 3 meters apart from x, at T DBe in the situation of 2540 μ s, can calculate 30 meters apart from x.
Therefore like this, the present invention has greatly amplified Measuring Time, can be from the short distance distance of measuring object thing accurately.
More than be the summary of the rough range determination principle among the present invention, but be the content of referenced patents document 1 basically, and the part that is not cited also be documented in the patent documentation 1 from but known, therefore omit its above explanation.
Though the measurement range of rough map ranging device is long, its precision owing to aforementioned reason be limited in ± 5mm about.In order to address this problem, in the present embodiment, be provided with the Precise Distance determination part.
That is, carrier frequency is being made as f 0, speed is made as v, when the distance that arrives target 25 positions is x,
The vector phase θ of microwave becomes
θ＝x·f 0/wπ（5）。
Thus, if measure θ, then can measure x.
Following mensuration of carrying out θ.That is, the output of low-pass filter 11 is the signals with the I same phase, and I is the signal with the carrier wave homophase, and the output of low-pass filter 12 is the signals with the Q same phase, and Q is the signal of the component vertical with carrier wave.
Monitor the output of low-pass filter 11, will be at f 1/ [(f 1-f 2) f 0] signal maximum in the time is made as I '.Equally, in identical time domain, monitor the output of low-pass filter 12, the signal of maximum is made as Q '.So, can enough θ=tan -1(Q '/I ') obtains the phase theta of reflection wave.Well-known in addition, in the process of the arc tangent of only calculating Q '/I ', 0～180 ° signal can only be obtained, but by also considering the symbol of Q ' and I ', 0～360 ° signal can be accessed.In arctangent cp cp operation device 30 shown in Figure 1, carry out tan -1The calculating of (Q '/I ').And, in phase detectors 31, consider that also the symbol of Q ' and I ' is to carry out the calculating of phase theta.Can carry out such θ=tan by microprocessor -1The computing of (Q '/I ').
What calculate like this is not absolute distance apart from x, but relative distance.Thus, in the situation about having changed in the position of target 25, by obtaining respectively θ, obtain △ θ, and substitution △ θ=△ xf 0/ w π (6),
Can learn thus the change in location of target 25.In addition, the mask method of the △ θ symbol in (6) formula existing problems, the below is described in detail.
Because the method is measured the angle of 1 carrier phasor, therefore have and be difficult to be subjected to the advantage that affects with inferior:
(a) blunt in the low-pass filter medium wave deformation of carrying out frequency band limits, the crest of waveform correlation does not become acute angle.
(b) owing to frequency spectrum diffusion, frequency spreads to broadband, therefore is subjected to the impact of frequency characteristic or the group lag characteristic of the parts that use, and produces distortion.
But, have the range of mensuration and be defined to the such shortcoming of carrier wavelength, therefore can use in combination with rough map ranging device.Carry out this calculating with distance operation unit 32.
As assay method, for example has following method.
The 1st method is:
(1) in aforesaid method, obtains the distance that arrives target 25 with rough map ranging device.Simultaneously, measure in advance θ by the Precise Distance analyzer in addition.The relative distance θ that rough map ranging device or rough map ranging device and Precise Distance analyzer are measured that passes through with this moment 0Sum is made as reference range.The θ that measured this moment gets 0 ° as the benchmark angle, in following θ measures, the difference with this benchmark angle can be made as θ.At this moment, reference range becomes the value of measuring with rough map ranging device.In the invention of claim 2, this mode also is equivalent to accurate initial value is made as 0 mode, and comprises within the scope of the invention.
(2) afterwards, only measure θ, by (θ-θ 0) obtain △ θ.Then, obtain △ x by (6) formula, and with itself and aforesaid reference range addition, draw thus the distance that arrives target 25.
Like this can be with θ 0The θ that carries out ± 180 degree for benchmark measures, and finally can obtain the measurement range identical with the wavelength of carrier wave.And, obtain (θ-θ even replace 0) then obtain △ x, and use (5) formula, according to θ 0Obtain x 0, obtain x according to θ, its difference is made as △ x, also be equal to above method.
The 2nd method is following method:
(1) makes the definite identical with the 1st method of reference range, then make the 1st mensuration also identical with the 1st method.
(2) after the 2nd mensuration, the θ that gets current mensuration is θ nWith the θ that measured last time N-1Difference, with this difference as △ θ substitution (6) formula obtain currency and upper sub-value apart from difference, with this difference and measured value addition last time, obtain thus current measured value.
In addition, even replace according to θ nAnd θ N-1Difference obtain the difference of distance, and according to θ nObtain Precise Distance x n, according to θ N-1Obtain Precise Distance x N-1, according to x nAnd x N-1Difference obtain currency and upper sub-value apart from difference, also be equal to above method.According to the method, measurement range can not only limit to the wavelength of carrier wave.
But in the situation that detects △ θ value, angle increases and becomes △ θ, when angle reduces (2 π-△ θ) and passes through-180 °, replaces+180 degree, and the result does not know whether consisted of △ θ.For fear of this situation, in the sample interval, distance when the variation of only measuring θ is no more than 180 °, when observed △ θ is θ≤180 °, being made as target 25 moves towards the direction near antenna, when observed △ θ is θ 〉=180 °, be made as target 25 and move towards the direction away from antenna, then can calculate the symbol of the △ x of (6) formula.
In addition, obtaining θ nAnd θ N-1The situation of difference under, for example work as θ N-1Be+170 °, θ nWhen increasing again 20 °, surpass+180 °, thereby be judged to be θ n=-170 °.For fear of this unfavorable condition, even θ N-1Be+170 °, also it be read as 0 °, and obtain θ take it as benchmark nValue get final product.Thus in these cases, can be with (θ n-θ N-1) value correctly be calculated as 20 °.That is, obtaining θ nAnd θ N-1The situation of difference under, be made as θ N-1=0 ° and with it as reference point, then obtain θ take it as benchmark nValue.
The 3rd method is:
(1) use the method identical with the 1st method (1) to obtain reference range.
(2) in the Precise Distance determinator, as θ=xf 0/ w π ± 2n π (n is integer), substitution (5) formula is obtained a plurality of distances.
The output of the rough Distnace determination device when (3) reference range is obtained in addition respectively and a plurality of distances of obtaining in (2) are obtained a plurality of distances.
(4) adopt the immediate distance of value in a plurality of distances of being obtained by (3) and rough Distnace determination device this moment, be made as the distance of obtaining.
Thus, have the following advantages: even in the situation of phase rotating more than 360 ° with reflection wave between the measuring interval, also can obtain the distance that arrives target 25, and measurement range is not limited to the wavelength coverage of carrier wave.
In above such assay method, the measured value of initial rough Distnace determination device is not absolute value but therefore relative value can not obtain absolute distance.As countermeasure, measure the arrival distance L by the method for measuring distance of embodiment of the present invention in advance 0The distance of known standard test plate, and this value is made as standard initial value L ', after this, when measuring by identical method for measuring distance and its value be made as L, will
（L 0＋L-L′）
Value be made as output measured value get final product.

Claims (5)

1. a Distnace determination device is characterized in that, this Distnace determination device has:
Generation is made as f with clock frequency 1The unit of the 1st pseudo random signal;
Produce the unit of the 2nd pseudo random signal, the 2nd pseudo random signal has the pattern identical with described the 1st pseudo random signal, and with the described clock frequency f of frequency ratio 1Slightly low f 2Be made as clock frequency;
The 1st multiplier that described the 1st pseudo random signal and described the 2nd pseudo random signal are multiplied each other;
Produce the unit of the carrier wave of microwave;
Described carrier wave is carried out the unit of phase-modulation by described the 1st pseudo random signal;
With the carrier wave behind the described phase-modulation as electromagnetic wave to unit that object sends;
Reception obtains the unit that receives signal from the electromagnetic wave of described object reflection;
The 2nd multiplier that the described reception signal of obtaining and described the 2nd pseudo random signal are multiplied each other;
Input described carrier wave a part, output as the I signal of two orthogonal components of phase place and the hybrid coupler of Q signal;
The output signal of described the 2nd multiplier is divided into one of them signal R after two 1The 3rd multiplier that multiplies each other with described I signal;
The output signal of described the 2nd multiplier is divided into wherein another signal R after two 2The 4th multiplier that multiplies each other with described Q signal;
The output signal of described the 1st multiplier is carried out the 1st low-pass filter that low frequency filtering is processed;
The output signal of described the 3rd multiplier is carried out the 2nd low-pass filter that low frequency filtering is processed;
The output signal of described the 4th multiplier is carried out the 3rd low-pass filter that low frequency filtering is processed;
Individually the output signal of described the 2nd low-pass filter and the 3rd low-pass filter is carried out respectively the 1st squarer and the 2nd squarer of square operation;
Totalizer with the output signal addition of described the 1st squarer and the 2nd squarer;
When the peak swing value of the output signal that detects described the 1st low-pass filter, produce the unit of the 1st pulse;
When the peak swing value of the output signal that detects described totalizer, produce the unit of the 2nd pulse;
Be carved into the unit that generation time constantly of described the 2nd pulse measures to from the generation of described the 1st pulse the time;
Rough range determination section, its with time of described mensuration 1/2 with described electromagnetic wave propagation speed the long-pending as the 1st operation values, with described clock frequency f of gained of multiplying each other 1Deduct clock frequency f 2The frequency of the difference of gained is divided by described clock frequency f 1The merchant who draws is as the 2nd operation values, obtain will described the 1st operation values with described the 2nd operation values the long-pending of gained of multiplying each other be the 3rd operation values, as the distance that arrives described object;
The phase differential arithmetical unit, it is made as I ', the output of described the 3rd low-pass filter is made as Q ' time in the output with described the 2nd low-pass filter, obtains phase differential θ=tan -1(Q '/I '); And
The Precise Distance determination part when it is made as λ at the wavelength with described carrier wave, is obtained Precise Distance=θ λ/2 π.
2. a method for measuring distance is characterized in that,
The distance of measuring in the described rough range determination section with Distnace determination device claimed in claim 1 is as rough initial value, and the distance that described Precise Distance determination part is measured is as accurate initial value, with their sums during as initial value,
The distance that described rough initial value and described Precise Distance determination part are measured and the difference sum of described accurate initial value are as the output measured value.
3. a method for measuring distance is characterized in that,
The distance of measuring in the described rough range determination section with Distnace determination device claimed in claim 1 is as rough initial value, and the distance that described Precise Distance determination part is measured is as accurate initial value, with their sums during as initial value,
In the 1st time is measured, the distance that described rough initial value and described Precise Distance determination part are measured and the difference sum of described accurate initial value are as the output measured value, in the 2nd time is measured, the difference of the output of the Precise Distance determination part of asking for the output of the Precise Distance determination part of measuring this moment and measuring last time, and with this difference and measured value addition last time, obtain thus this measured value.
4. a method for measuring distance is characterized in that,
Be measured to distance L with method for measuring distance claimed in claim 2 in advance 0The distance of known standard test plate, this value is made as standard initial value L ', afterwards, when being measured to the distance of determination object thing and its value be made as L with the method for measuring distance of measuring described standard initial value,
With (L 0+ L-L ') value is as the output measured value.
5. a method for measuring distance is characterized in that,
Be measured to distance L with method for measuring distance claimed in claim 3 in advance 0The distance of known standard test plate, this value is made as standard initial value L ', afterwards, when being measured to the distance of determination object thing and its value be made as L with the method for measuring distance of measuring described standard initial value,
With (L 0+ L-L ') value is as the output measured value.
CN2007801011406A 2007-10-19 2007-12-13 Distance measuring equipment and distance measuring method Expired - Fee Related CN101828130B (en)

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